ZSL-1w SDK API Definition

1. HighLevel Function Introduction

class HighLevel

This class contains methods for controlling the ZSL-1w robot dog application functions, and users can use these methods for high-level control and data acquisition.

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1.1 Initialization

Function Prototype

initRobot(local_ip, local_port, dog_ip)

Function Overview Establish communication with the robot dog. The default IP is "192.168.234.1". If the robot IP is changed, the new IP needs to be passed in.

Parameter Description

Parameter Name	Type	Description	Option	Remarks
local_ip	string&	User host IP address	Required	-
local_port	int	User host port	Required	-
dog_ip	string&	Robot dog IP address	Optional	Default "192.168.234.1"

Return Value None

Remarks When communication establishment fails, failure logs are output to the terminal

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1.2 Check Communication Status

Function Prototype

checkConnect()

Function Overview Check robot communication status

Parameter Description

None

Return Value Type: bool

Return Value	Description
true	Connection normal
false	Connection failed

Remarks Can be used as heartbeat detection

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1.3 Stand Up

Function Prototype

standUp()

Function Overview Control the robot dog to stand up

Parameter Description

None

Return Value Type: uint32_t

Return Value	Description
0	Normal
Others	Other error codes same as ZSL-1

Remarks Cannot directly enter during movement

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1.4 Lie Down

Function Prototype

lieDown()

Function Overview Control the robot dog to lie down

Parameter Description

None

Return Value Type: uint32_t

Return Value	Description
0	Normal
Others	Other error codes same as ZSL-1

Remarks Cannot directly enter during movement

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1.5 Passive

Function Prototype

passive()

Function Overview Control the robot dog to enter passive mode

Parameter Description

None

Return Value Type: uint32_t

Return Value	Description
0	Normal
Others	Other error codes same as ZSL-1

Remarks For emergency stop

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1.6 Move

Function Prototype

move(float vx, float vy, float yaw_rate)

Function Overview Control the robot dog to move at speed

Parameter Description

Parameter Name	Type	Description	Option	Remarks
vx	float	Forward speed m/s	Required	When not moving, 0 needs to be passed in, range (-3.7 ~ -0.05/0.05 ~ 3.7m/s)
vy	float	Lateral speed m/s	Required	When not moving, 0 needs to be passed in, range (-1 ~ -0.1/0.1 ~ 1.0m/s)
yaw_rate	float	Angular velocity around Z-axis rad/s	Required	When not moving, 0 needs to be passed in, range (-3 ~ -0.1/0.1 ~ 3.0 rad/s)

Return Value Type: uint32_t

Return Value	Description
0	Normal
Others	Other error codes same as ZSL-1

Remarks Must be called in standing state

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1.7 Crawl

Function Prototype

crawl(float vx, float vy, float yaw_rate)

Function Overview Control the robot dog to crawl in low posture

Parameter Description

Parameter Name	Type	Description	Option	Remarks
vx	float	Forward speed m/s	Required	When not moving, 0 needs to be passed in, range (-3 ~ -0.1/0.1 ~ 3.0m/s)
vy	float	Lateral speed m/s	Required	When not moving, 0 needs to be passed in, range (-0.5 ~ -0.1/0.1 ~ 0.5m/s)
yaw_rate	float	Angular velocity around Z-axis rad/s	Required	When not moving, 0 needs to be passed in, range (-1 ~ -0.1/0.1 ~ 1.0 rad/s)

Return Value Type: uint32_t

Return Value	Description
0	Normal
Others	Other error codes same as ZSL-1

Remarks Similar to move, but uses crawling gait. Cannot enter this state during high-speed movement.

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1.8 Cancel Crawl

Function Prototype

cancelCrawl()

Function Overview Exit crawl mode

Parameter Description

None

Return Value None

Remarks None

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1.9 Attitude Control

Function Prototype

attitudeControl(float roll_vel, float pitch_vel, float yaw_vel, float height_vel)

Function Overview Control body twisting and height changes

Parameter Description

Parameter Name	Type	Description	Option	Remarks
roll_vel	float	Angular velocity around X-axis	Required	When not controlling, pass in 0, range (-0.5rad/s~0.5rad/s)
pitch_vel	float	Angular velocity around Y-axis	Required	When not controlling, pass in 0, range (-0.5rad/s~0.5rad/s)
yaw_vel	float	Angular velocity around Z-axis	Required	When not controlling, pass in 0, range (-0.5rad/s~0.5rad/s)
height_vel	float	Vertical height velocity	Required	When not controlling, pass in 0, range (-0.5m/s-0.5m/s)

Return Value Type: uint32_t

Return Value	Description
0	Normal

Remarks Must be called in standing state

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1.10 Get Attitude/Velocity/Position

Function Prototype

getQuaternion()

Function Overview Get attitude quaternion

Parameter Description

None

Return Value Type: vector

Return Value	Description
[w, x, y, z]	Quaternion

Remarks None

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Function Prototype

getRPY()

Function Overview Get Euler angles

Parameter Description

None

Return Value Type: vector

Return Value	Description
[roll, pitch, yaw]	Euler angles, unit rad

Remarks None

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Function Prototype

getBodyAcc()

Function Overview Get body acceleration

Parameter Description

None

Return Value Type: vector

Return Value	Description
[ax, ay, az]	Unit m/s²

Remarks None

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Function Prototype

getBodyGyro()

Function Overview Get body angular velocity

Parameter Description

None

Return Value Type: vector

Return Value	Description
[gx, gy, gz]	Unit rad/s

Remarks None

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Function Prototype

getPosition()

Function Overview Get body position

Parameter Description

None

Return Value Type: vector

Return Value	Description
[x, y, z]	Body position, unit m

Remarks None

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Function Prototype

getWorldVelocity()

Function Overview Get body velocity in world coordinate system

Parameter Description

None

Return Value Type: vector

Return Value	Description
[vx, vy, vz]	Body linear velocity, unit m/s

Remarks None

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Function Prototype

getBodyVelocity()

Function Overview Get body velocity in body coordinate system

Parameter Description

None

Return Value Type: vector

Return Value	Description
[vx, vy, vz]	Body linear velocity, unit m/s

Remarks None

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1.11 Get Battery Power

Function Prototype

getBatteryPower()

Function Overview Get battery power

Parameter Description

None

Return Value Type: uint32_t

Return Value	Description
0-100	Battery power percentage

Remarks None

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1.12 Get Control Mode

Function Prototype

getCurrentCtrlmode()

Function Overview Get current robot dog control state

Parameter Description

None

Return Value Type: uint32_t

Return Value	Description
0	Damping mode
1	Standing mode
3	Movement mode

Remarks None

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1.13 Joint Information Acquisition

1.13.1 Get Joint Angles

Function Prototype

getLegAbadJoint()
getLegHipJoint()
getLegKneeJoint()
getLegFootJoint()

Function Overview Get joint angle values

Parameter Description

None

Return Value Type: vector

Return Value	Description
[FR, FL, RR, RL]	Joint angles of each leg, unit rad

Remarks - LegAbadJoint corresponds to hip joint abduction/adduction direction - LegHipJoint corresponds to hip joint hip direction
- LegKneeJoint corresponds to knee joint - LegFootJoint corresponds to foot joint

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1.13.2 Get Joint Velocities

Function Prototype

getLegAbadJointVel()
getLegHipJointVel()
getLegKneeJointVel()
getLegFootJointVel()

Function Overview Get joint velocity values

Parameter Description

None

Return Value Type: vector

Return Value	Description
[FR, FL, RR, RL]	Joint velocities of each leg, unit rad/s

Remarks - LegAbadJointVel corresponds to hip joint abduction/adduction direction - LegHipJointVel corresponds to hip joint hip direction
- LegKneeJointVel corresponds to knee joint - LegFootJointVel corresponds to foot joint

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1.13.3 Get Joint Torques

Function Prototype

getLegAbadJointTorque()
getLegHipJointTorque()
getLegKneeJointTorque()
getLegFootJointTorque()

Function Overview Get joint torque values

Parameter Description

None

Return Value Type: vector

Return Value	Description
[FR, FL, RR, RL]	Joint torques of each leg, unit N·m

Remarks

• LegAbadJointTorque corresponds to hip joint abduction/adduction direction
• LegHipJointTorque corresponds to hip joint hip direction
• LegKneeJointTorque corresponds to knee joint
• LegFootJointTorque corresponds to foot joint